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Chapter 15 PDF

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AmirulHanif Alyahya
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Engineering Mechanics:

Dynamics in SI Units, 12e

Chapter 15
Kinetics of a Particle: Impulse and Momentum
Copyright © 2010 Pearson Education South Asia Pte Ltd
Chapter Objectives

 Principle of linear impulse and momentum for a


particle
 Conservation of linear momentum for particles
 Analyze the mechanics of impact
 Concept of angular impulse and momentum
 Solve problems involving steady fluid streams and
propulsion with variable mass

Copyright © 2010 Pearson Education South Asia Pte Ltd


Chapter Outline

1. Principle of Linear Impulse and Momentum


2. Principle of Linear Impulse and Momentum for a System
of Particles
3. Conservation of Linear Impulse for a System of Particles
4. Impact
5. Angular Momentum
6. Relation between Momentum of a Force and Angular
Momentum
7. Principle of Angular Impulse and Momentum
8. Steady Flow of Fluid Streams
9. Propulsion with a Variable Mass*

Copyright © 2010 Pearson Education South Asia Pte Ltd


15.1 Principle of Linear Impulse and
Momentum
 Equation of motion for a particle of mass m is
∑F = ma = m dv/dt
 Rearranging the terms and integrating between
the limits v = v1 at t = t1 and v = v2 at t = t2

 
t2 v2 t2
F dt  m dv  F dt  mv 2  mv1
t1 v1 t1

 Referred to as the
principle of linear impulse
and momentum

Copyright © 2010 Pearson Education South Asia Pte Ltd


15.1 Principle of Linear Impulse and
Momentum
Linear Momentum
 Vectors of the form L = mv is called linear
momentum
 Magnitude mv has unit of mass-velocity, kg.m/s

Copyright © 2010 Pearson Education South Asia Pte Ltd


15.1 Principle of Linear Impulse and
Momentum
Linear Impulse
 I   F dt is called linear impulse, and measure
the effect of a force during the time the force acts
 The impulse acts in the same direction as the
force, magnitude has unit of force-time, N.s

Copyright © 2010 Pearson Education South Asia Pte Ltd


15.1 Principle of Linear Impulse and
Momentum
Principle of Linear Impulse and Momentum
 The equation is rewritten in the form

mv1    F dt  mv 2
t2
t1

 Principle of linear impulse and momentum in its


x, y, z components is
m(vx )1    Fx dt  m(vx ) 2
t2
t1

m(v y )1    Fy dt  m(v y ) 2
t2
t1

m(vz )1    Fz dt  m(vz ) 2
t2
t1
Copyright © 2010 Pearson Education South Asia Pte Ltd
15.1 Principle of Linear Impulse and
Momentum
Procedures for Analysis
Free-Body Diagram
 Establish the x, y, z inertial frame of reference
and draw FBD
 Establish direction and sense of initial and final
velocities
 Assume the sense of vector components in the
direction of the positive inertial coordinates
 Draw the impulse and momentum diagrams for
the particle

Copyright © 2010 Pearson Education South Asia Pte Ltd


15.1 Principle of Linear Impulse and
Momentum
Procedures for Analysis
Principle of Impulse and Momentum
 Apply the principle of linear impulse and
momentum,
mv1    F dt  mv2
t2
t1
 If the motion occurs in the x-y plane, it can
resolve the vector components of F
 Every force acting on the particle’s FBD
can create an impulse
 The impulse is equal to the area under the force-
time curve

Copyright © 2010 Pearson Education South Asia Pte Ltd


Example 15.1

The 100-kg stone is originally at rest on the smooth


horizontally surface. If a towing force of 200 N,
acting at an angle of 45°, is applied to the stone for
10 s, determine the final velocity and the normal
force which the surface exerts on the stone during
the time interval.

Copyright © 2010 Pearson Education South Asia Pte Ltd


Example 15.1

Solution
Free-Body Diagram
Since all forces acting are constant, the impulses are
I = Fc(t2 – t1)
Principle of Impulse and Momentum
Resolving the vectors along the x, y, z axes,
  
   m(vx )1   t Fx dt  m(vx ) 2
t2

  1

0  200(10) cos 45  (100)v2  v2  14.1m/s


  m(v )   
y 1
t1
t2
Fy dt  m(v y ) 2

0  N C (10)  981(10)  200(10) sin 45  0  N C  840N

Copyright © 2010 Pearson Education South Asia Pte Ltd


Example 15.3

Block A and B have a mass of 3 kg and 5 kg


respectively. If the system is released from rest,
determine the velocity of block B in 6 s.

Copyright © 2010 Pearson Education South Asia Pte Ltd


Example 15.3

Solution
Free-Body Diagram
Since weight of each block is constant,
the cord tensions will also be constant.

Since mass of pulley D is neglected,


the cord tension is TA = 2TB.

Copyright © 2010 Pearson Education South Asia Pte Ltd


Example 15.3

Solution
Principle of Impulse and Momentum
Block A:
  m(v A )1    Fy dt  m(v A ) 2
t2

t1

0  2TB (6)  3(9.81)(6)  (3)(v A ) 2 1


Block B:

  m(vB )1    Fy dt  m(vB ) 2
t2

t1

0  5(9.81)(6)  TB (6)  (5)(vB ) 2 2


Copyright © 2010 Pearson Education South Asia Pte Ltd
Example 15.3

Solution
Kinematics
We have 2 s A  sB  l
Taking time derivative yields 2v A  vB
When B moves downward A moves upward.
Sub this result into Eq. 1 and solving Eqs. 1 and 2
yields (vB)2 = 35.8 m/s and TB = 19.2 N

Copyright © 2010 Pearson Education South Asia Pte Ltd


15.2 Principle of Linear Impulse and Momentum for
a System of Particles

 Principle of linear impulse and momentum for a


system of moving particles is

 Fi   mi dt
dvi

 Internal forces fi acting between particles do not


appear with this summation,

 mi vi 1   t1 Fi dt  mi vi 2


t2

Copyright © 2010 Pearson Education South Asia Pte Ltd


15.3 Conservation of Linear Momentum
for a System of Particles
 When the sum of the external impulses acting on
a system of particles is zero, the equation is
 mi vi 1   mi vi 2
 This is called conservation of linear momentum
 The total momentum for a system of particles
remains constant during the time period t1 to t2

Copyright © 2010 Pearson Education South Asia Pte Ltd


15.3 Conservation of Linear Momentum
for a System of Particles
 Internal impulses for the system will always
cancel out as they occur in equal but opposite
collinear pairs
 The forces causing negligible impulses are called
non-impulsive forces
 Forces that are very large and act for a very
short period of time are called impulsive forces

Copyright © 2010 Pearson Education South Asia Pte Ltd


15.3 Conservation of Linear Momentum
for a System of Particles
Procedure for Analysis
Free-Body Diagram
 Establish the x, y, z inertial frame of reference
and draw the FBD
 Apply conservation of linear momentum in a
given direction
 Establish the direction and sense of the particle’s
initial and final velocities.
 Draw the impulse and momentum diagrams for
each particle of the system

Copyright © 2010 Pearson Education South Asia Pte Ltd


15.3 Conservation of Linear Momentum
for a System of Particles
Procedure for Analysis
Momentum Equations
 Apply the principle of linear impulse and
momentum or the conservation of linear
momentum
 Determine the internal impulse ∫F.dt acting on
only one particle of a system
 Average impulsive force Favg can be determined
from Favg = ∫F dt/∆t.

Copyright © 2010 Pearson Education South Asia Pte Ltd


Example 15.4

The 15-Mg boxcar A is coasting at 1.5 m/s on the


horizontal track when it encounters a 12-Mg tank B
coasting at 0.75 m/s toward it. If the cars meet and
couple together, determine
(a) the speed of both cars just after the coupling, and
(b) the average force between them if the coupling
takes place in 0.8 s.

Copyright © 2010 Pearson Education South Asia Pte Ltd


Example 15.4

Solution
Part (a)
Free-Body Diagram.
Consider both cars as a single system.

Momentum is conserved in the x direction since the


coupling force F is internal to the system.

Copyright © 2010 Pearson Education South Asia Pte Ltd


Example 15.4

Solution
Conservation of Linear Momentum
( )

m A (v A )1  mB (vB )1  (m A  mB )v2

(15000)(1.5)  (12000)(0.75)  (27000)v2


v2  0.5m / s 

Part (b)
Average (impulsive) coupling force Favg, can be
determined by applying the principle of linear
momentum to either one of the cars

Copyright © 2010 Pearson Education South Asia Pte Ltd


Example 15.4

Solution
Part (b)
Conservation of Momentum
( ) m A (v A )1    F dt  m Av2

(15000)(1.5)  Favg (0.8)  (15000)(0.5)
Favg  18.8kN

Copyright © 2010 Pearson Education South Asia Pte Ltd


Example 15.6

The bumper cars A and B each have a mass of 150


kg and are coasting with the velocities shown before
they freely collide head on. If no energy is lost during
the collision, determine their velocities after collision.

Copyright © 2010 Pearson Education South Asia Pte Ltd


Example 15.6

Solution
Free-Body Diagram
The cars will be considered as a single system.
The free-body diagram is shown.

Conservation of Momentum
( ) m A (v A )1  mB (vB )1  m A v A 2  mB vB 2
(150)(3)  150 2  (150)v A 2  150vB 2
 v A 2  1  vB 2 1

Copyright © 2010 Pearson Education South Asia Pte Ltd


Example 15.6

Solution
Conservation of Energy
T1  V1  T2  V2
mA v A 1  12 mB vB 1  0  12 mA v A 2  12 mB vB 2  0
1 2 2 2 2
2

v A 22  vB 22  13  2

Sub Eq. (1) into (2), we get


vB 2  3 m/s  and vB 2  2 m/s or 2 m/s 

Copyright © 2010 Pearson Education South Asia Pte Ltd


Example 15.7

An 800-kg rigid pile P is driven into the ground using


a 300-kk hammer H. the hammer falls from rest at a
height y0 = 0.5 m and strikes the top of the pile.
Determine the impulse which the hammer imparts on
the pile if the pile is surrounded entirely by loose
sand so that after striking, the hammer does not
rebound off the pile.

Copyright © 2010 Pearson Education South Asia Pte Ltd


Example 15.7

Solution
Conservation of Energy
Velocity can be determined using the conservation
of energy equation applied to the hammer.
T0  V0  T1  V1
1 1
mH (vH ) 0  WH y0  mH (vH )12  WH y1
2

2 2
1
0  300(9.81)(0.5)  (300)(vH )12  0
2
(vH )1  3.13 m/s

Copyright © 2010 Pearson Education South Asia Pte Ltd


Example 15.7

Solution
Free-Body Diagram
Weight of the hammer and pile and the resistance
force Fs of the sand are all non-impulsive,

Momentum is conserved in the vertical direction


during this short time.

Copyright © 2010 Pearson Education South Asia Pte Ltd


Example 15.7

Solution
Conservation of Momentum
Since the hammer does not rebound off the pile just
after the collision, then (vH)2 = (vP)2 = v2

(  ) mH (vH )1  m p (v p )1  mH v2  m p v2
(300 )( 3.13)  0  300 v2  800 v2
v2  0.8542 m/s

Copyright © 2010 Pearson Education South Asia Pte Ltd

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